#include "user_app.h"

/*modbus crc校验*/
uint16_t CRC16(const uint8_t *nData, uint16_t wLength)
{
    static const uint16_t wCRCTable[] = {
        0X0000, 0XC0C1, 0XC181, 0X0140, 0XC301, 0X03C0, 0X0280, 0XC241,
        0XC601, 0X06C0, 0X0780, 0XC741, 0X0500, 0XC5C1, 0XC481, 0X0440,
        0XCC01, 0X0CC0, 0X0D80, 0XCD41, 0X0F00, 0XCFC1, 0XCE81, 0X0E40,
        0X0A00, 0XCAC1, 0XCB81, 0X0B40, 0XC901, 0X09C0, 0X0880, 0XC841,
        0XD801, 0X18C0, 0X1980, 0XD941, 0X1B00, 0XDBC1, 0XDA81, 0X1A40,
        0X1E00, 0XDEC1, 0XDF81, 0X1F40, 0XDD01, 0X1DC0, 0X1C80, 0XDC41,
        0X1400, 0XD4C1, 0XD581, 0X1540, 0XD701, 0X17C0, 0X1680, 0XD641,
        0XD201, 0X12C0, 0X1380, 0XD341, 0X1100, 0XD1C1, 0XD081, 0X1040,
        0XF001, 0X30C0, 0X3180, 0XF141, 0X3300, 0XF3C1, 0XF281, 0X3240,
        0X3600, 0XF6C1, 0XF781, 0X3740, 0XF501, 0X35C0, 0X3480, 0XF441,
        0X3C00, 0XFCC1, 0XFD81, 0X3D40, 0XFF01, 0X3FC0, 0X3E80, 0XFE41,
        0XFA01, 0X3AC0, 0X3B80, 0XFB41, 0X3900, 0XF9C1, 0XF881, 0X3840,
        0X2800, 0XE8C1, 0XE981, 0X2940, 0XEB01, 0X2BC0, 0X2A80, 0XEA41,
        0XEE01, 0X2EC0, 0X2F80, 0XEF41, 0X2D00, 0XEDC1, 0XEC81, 0X2C40,
        0XE401, 0X24C0, 0X2580, 0XE541, 0X2700, 0XE7C1, 0XE681, 0X2640,
        0X2200, 0XE2C1, 0XE381, 0X2340, 0XE101, 0X21C0, 0X2080, 0XE041,
        0XA001, 0X60C0, 0X6180, 0XA141, 0X6300, 0XA3C1, 0XA281, 0X6240,
        0X6600, 0XA6C1, 0XA781, 0X6740, 0XA501, 0X65C0, 0X6480, 0XA441,
        0X6C00, 0XACC1, 0XAD81, 0X6D40, 0XAF01, 0X6FC0, 0X6E80, 0XAE41,
        0XAA01, 0X6AC0, 0X6B80, 0XAB41, 0X6900, 0XA9C1, 0XA881, 0X6840,
        0X7800, 0XB8C1, 0XB981, 0X7940, 0XBB01, 0X7BC0, 0X7A80, 0XBA41,
        0XBE01, 0X7EC0, 0X7F80, 0XBF41, 0X7D00, 0XBDC1, 0XBC81, 0X7C40,
        0XB401, 0X74C0, 0X7580, 0XB541, 0X7700, 0XB7C1, 0XB681, 0X7640,
        0X7200, 0XB2C1, 0XB381, 0X7340, 0XB101, 0X71C0, 0X7080, 0XB041,
        0X5000, 0X90C1, 0X9181, 0X5140, 0X9301, 0X53C0, 0X5280, 0X9241,
        0X9601, 0X56C0, 0X5780, 0X9741, 0X5500, 0X95C1, 0X9481, 0X5440,
        0X9C01, 0X5CC0, 0X5D80, 0X9D41, 0X5F00, 0X9FC1, 0X9E81, 0X5E40,
        0X5A00, 0X9AC1, 0X9B81, 0X5B40, 0X9901, 0X59C0, 0X5880, 0X9841,
        0X8801, 0X48C0, 0X4980, 0X8941, 0X4B00, 0X8BC1, 0X8A81, 0X4A40,
        0X4E00, 0X8EC1, 0X8F81, 0X4F40, 0X8D01, 0X4DC0, 0X4C80, 0X8C41,
        0X4400, 0X84C1, 0X8581, 0X4540, 0X8701, 0X47C0, 0X4680, 0X8641,
        0X8201, 0X42C0, 0X4380, 0X8341, 0X4100, 0X81C1, 0X8081, 0X4040 };

	uint8_t nTemp;
	uint16_t wCRCWord = 0xFFFF;

	while (wLength--)
	{
		nTemp = *nData++ ^ wCRCWord;
		wCRCWord >>= 8;
		wCRCWord ^= wCRCTable[nTemp];
	}
	return wCRCWord;
} // End: CRC16



/*u16数组转 u8数组 num是u16数据的元素个数*/
void Uint16ToUint8(uint16_t *src,uint8_t *dst,uint8_t num)
{
	for(int i=0;i<num;i++){
		dst[2*i] = (src[i]>>8)&0xff;
		dst[2*i+1] = src[i]&0xff;
	}
}

//微秒级的延时
uint8_t delay_us(uint32_t delay_us)
{
	volatile unsigned int num;
	volatile unsigned int t;

	for (num = 0; num < delay_us; num++)
	{
		t = 11;
		while (t > 0)
		{
			t--;
		}
	}
	return 0;
}
//毫秒级的延时
uint8_t delay_ms(uint16_t delay_ms)
{
	volatile unsigned int num;

	for (num = 0; num < delay_ms; num++)
	{
		delay_us(1000);
	}
	return 0;
}

/*串口读写函数*/
uint8_t Uart_Write_Read(const UART_t *const handle, uint8_t *tx_buf, uint16_t txsize, uint8_t *rx_buf, uint16_t rxsize)
{
	UART_STATUS_t txsta=UART_STATUS_MODE_MISMATCH,rxsta=UART_STATUS_MODE_MISMATCH;


	txsta = UART_Transmit(handle, tx_buf, txsize);
//	if(txsta == UART_STATUS_BUSY)
//	{
//		handle->runtime->tx_busy = false;
//		txsta = UART_Transmit(handle, tx_buf, txsize);
//	}
	while(handle->runtime->tx_busy)//此处需要等待发送完毕
	{
		;
	}
	if(txsta == UART_STATUS_SUCCESS)
	{
		rxsta = UART_Receive(handle, rx_buf, rxsize);//打开接收中断，夹爪响应时间为ms级，因此不会打开迟了
//		if(rxsta == UART_STATUS_BUSY)
//		{
//			handle->runtime->rx_busy = false;
//			rxsta = UART_Receive(handle, rx_buf, rxsize);
//		}
		if(rxsta == UART_STATUS_SUCCESS)
		{
			return 0;
		}
	}
	return 0xff;
}
